Trajectory planning and tracking control of automatic overtaking process on highway

doi:10.3969/j.issn.1674-8484.2022.03.007

Abstract

Abstract:

The trajectory planning and tracking control were investigated in the overtaking process for the autonomous driving vehicles on highway. The overtaking process was modeled and analyzed by digital simulation through longitudinal displacement-time graph (s-t graph). The algorithm planned the vehicle’s longitudinal and lateral motion with polynomials. The centralized model predictive controller controlled the vehicle’s longitudinal and lateral motion to realize the trajectory tracking of the overtaking process. The results show that compared to the decentralized control method, the centralized control method decreases the vehicle lateral acceleration fluctuation by 19.0%, and decreases the vehicle yaw rate fluctuation by 11.6%. Therefore, the centralized control method has smaller deviations in the lateral motion with smoother and more stable longitudinal accelerations. Thus, it meets the basic safety and stability requirements at highway overtaking.

Key words: car safety, autonomous driving vehicles, overtaking model, trajectory planning, tracking control

CLC Number:

U461.6

ZHANG Ping, CHEN Yifan, JIANG Shuzhen, HAN Yi. Trajectory planning and tracking control of automatic overtaking process on highway[J]. Journal of Automotive Safety and Energy, 2022, 13(3): 463-472.

Figures/Tables 18

References 23

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质量,m	1.35 t
轴距,L	2.60 m
前轴到质心的距离,l_f	1.04 m
后轴到质心的距离,l_r	1.56 m
转动惯量,I_z	1.538 t·m²

质量,m	1.35 t
轴距,L	2.60 m
前轴到质心的距离,l_f	1.04 m
后轴到质心的距离,l_r	1.56 m
转动惯量,I_z	1.538 t·m²

预测时域,N_p	40
控制时域,N_c	20
采样间隔,∆T	100 ms
状态加权矩阵,Q	10I_Nx
控制加权矩阵,R	I_Nu
松弛因子权重系数,w	10
Jerk权重系数,k_j	1.0
规划时长权重系数,k_t	0.1
横向偏差权重系数,k_d	1.0
横向损失函数权重系数,K_d	1.0
纵向损失函数权重系数,K_s	1.0

预测时域,N_p	40
控制时域,N_c	20
采样间隔,∆T	100 ms
状态加权矩阵,Q	10I_Nx
控制加权矩阵,R	I_Nu
松弛因子权重系数,w	10
Jerk权重系数,k_j	1.0
规划时长权重系数,k_t	0.1
横向偏差权重系数,k_d	1.0
横向损失函数权重系数,K_d	1.0
纵向损失函数权重系数,K_s	1.0